Data-to-camera (D2C) based filters for improved object detection in images based on vehicle-to-everything communication

A system for an ego vehicle, comprising:

• a processor;
• and
• a non-transitory memory storing computer code which, when executed by the processor, causes the processor to:
• receive a vehicle-to-everything (V2X) message that describes an object that is within proximity of an ego vehicle;
• generate a set of data-to-camera (D2C) filters that are specific to the object described by the V2X message by:
• determining where the object is expected to appear in an initial image,
• generating a first D2C filter for an object type, and
• generating a second D2C filter for an object location based on where the object is expected to appear in the initial image;
• apply the set of D2C filters to image data that describes an initial image of the object;
• and
• generate a modified image, based on applying the set of D2C filters to the image data, wherein the modified image includes an indication of (1) a location and a size of the object in the initial image and (2) a type of object in the initial image.

A computer program product comprising a non-transitory memory storing computer-executable code that, when executed by a processor, causes the processor to:

• receive a vehicle-to-everything (V2X) message that describes an object that is within proximity of an ego vehicle;
• generate a set of data-to-camera (D2C) filters that are specific to the object described by the V2X message by:
• determining where the object is expected to appear in an initial image,
• generating a first D2C filter for an object type, and
• generating a second D2C filter for an object location based on where the object is expected to appear in the initial image;
• apply the set of D2C filters to image data that describes an initial image of the object;
• and
• generate a modified image, based on applying the set of D2C filters to the image data, wherein the modified image includes an indication of (1) a location and a size of the object in the initial image and (2) a type of object in the initial image.